BECKHOFF AX2000 CANopen communication profile - Manual (Page 32)

4.2.1.5 Object 1004h: Number of supported PDOs (DS301)
This Object is only supported to provide compatibility with older versions of the CANopen Standards
DS 301.
The structure of the parameter is as follows:
Sub-index MSB LSB
0 no. of supported RPDOs no. of supported TPDOs
1
no. of supported synchro-
nous RPDOs no. of supported synchronous
TPDOs
2
no. of supported asynchro-
nous RPDOs no. of supported asynchronous
TPDOs
Index 1004 h
Name no. of supported PDOs
Object code ARRAY
Data type UNSIGNED32
Category O
Sub-indexes:
Sub-index 00 h
Description no. of supported PDOs
Category O
Access ro
PDO mapping not possible
Value range 00 h ... 1FF01FF h
Default value 00020002 h
Sub-index 01 h
Description no. of synchronous PDOs
Category O
Access ro
PDO mapping not possible
Value range 00 h ... 1FF01FF h
Default value 00 h
Sub-index 02 h
Description no. of asynchronous PDOs
Category O
Access ro
PDO mapping not possible
Value range 00 h ... 1FF01FF h
Default value 00020002 h
This only shows the assignment when the AX2000/2500 has started up. Afterwards, the PDOs can
be configured through the communication parameters 1400
h
to 1403
h
, 1800
h
to 1803
h
.
32 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF